yolo4dAs expected, the YOLO4D models outperform the frame stacking models. Frame stacking encodes the temporal information only through the reshaping of inputs, while YOLO4DYOLO4D: A Spatio-temporal Approach for Real-time Multi-object Detection and Classification from LiDAR Point Clouds. Dec 9, 2018 on Ahmad A. Al Sallab, Ibrahim Sobh,